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Clin Oral Invest (2006) 10: 1–7

DOI 10.1007/s00784-005-0031-2

REVIEW

Maria Eugenia Guerrero . Reinhilde Jacobs .


Miet Loubele . Filip Schutyser . Paul Suetens .
Daniel van Steenberghe

State-of-the-art on cone beam CT imaging for preoperative


planning of implant placement

Received: 30 May 2005 / Accepted: 13 December 2005 / Published online: 16 February 2006
# Springer-Verlag 2006

Abstract Orofacial diagnostic imaging has grown dramat- Oral rehabilitation by means of implants
ically in recent years. As the use of endosseous implants has
revolutionized oral rehabilitation, a specialized technique The introduction of endosseous implant treatment has
has become available for the preoperative planning of oral initiated a revolution in oral rehabilitation for both partially
implant placement: cone beam computed tomography (CT). and fully edentulous patients. The clinical application of the
This imaging technology provides 3D and cross-sectional concept of osseointegration introduced in the midsixties [7]
views of the jaws. It is obvious that this hardware is not in the soon revealed a predictable long term success [24]. Nowa-
same class as CT machines in cost, size, weight, complexity, days the use of implants is even popular for the replacement
and radiation dose. It is thus considered to be the examina- of a single missing tooth [5].
tion of choice when making a risk–benefit assessment. The Only an exhaustive and comprehensive radiological as-
present review deals with imaging modalities available for sessment can provide the necessary information to select
preoperative planning purposes with a specific focus on the such optimal sites and the number and size of implants to be
use of the cone beam CT and software for planning of oral placed. The selection of the radiological technique should be
implant surgery. It is apparent that cone beam CT is the based on weighing the required image quality against the
medium of the future, thus, many changes will be performed radiation risks and costs involved [20]. In the perspective of
to improve these. Any adaptation of the future systems implant surgery, a correct identification of some anatomic
should go hand in hand with a further dose optimalization. structures such us the mandibular canal is important to avoid
nerve damage or other perioperative complications.
Keywords Cone beam computed tomography . In a position paper by the American Academy of Oral and
3-D imaging . Dental implants . Preoperative planning . Maxillofacial Radiology, Tyndall and Brooks [39] recom-
Volumetric tomography mend that conventional cross-sectional tomography should
be the method of choice for most implant patients. Never-
theless, the authors state that currently there is no scientific
evidence for their recommendation. The ideal goal of the
radiographic examination is to achieve as much information
M. E. Guerrero . R. Jacobs
Oral Imaging Center, School for Dentistry, on the jawbone as possible and at the same time minimize the
Oral Pathology and Maxillofacial Surgery, radiation burden to the patient regarding the ALARA
Katholieke Universiteit Leuven, principle (as low as reasonably achievable) and the costs.
Kapucijnenvoer 7, Thus one could argue that while firm arguments are missing,
Leuven 3000, Belgium one should refrain from such supplementary imaging.
M. E. Guerrero . R. Jacobs (*) . D. van Steenberghe Another set of guidelines was introduced by the European
Department of Periodontology, School for Dentistry, Association of Osseointegration (EAO) to avoid any over-
Oral Pathology and Maxillofacial Surgery, consumption of radiographic methods. These EAO guide-
Katholieke Universiteit Leuven, lines also focus on cross-sectional imaging but leave to the
Leuven, Belgium
e-mail: Reinhilde.Jacobs@uz.kuleuven.be discretion of the clinician the use of 2-D imaging in minor
Tel.: +32-16-332410 and/or established low risk surgery [12].
Fax: +32-16-332410 Computed tomography is a very common imaging tech-
nique, which allows the capture of information through a
M. Loubele . F. Schutyser . P. Suetens
Medical Image Computing (ESAT+Radioloy), spiral movement of the radiation source and the detectors
Faculties of Engineering and Medicine, around the region of interest. For maxillofacial applications,
UZ Gasthuisberg Leuven, Belgium dedicated software was developed capable of reformatting
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the data of the axial slices into panoramic images and The CBCT technique was employed previously in radio-
multiplanar cross-sectional images [38]. therapy using fluoroscopic systems or modified simulators to
The advantages offered by computed tomography (CT) obtain cross-sections of the patient in the same geometric
technology are direct volumetric reconstructions, and faster conditions as the treatment. It was also used in vascular
and easier data transformation for use in 3-D analyses imaging and in microtomography of small specimens for
including functional imaging and real time imaging for biomedical and industrial applications [28]. Nowadays, ra-
guiding interventional procedures [9]. diotherapy has become another relevant field for this
On the other hand, CT sections impart relatively high machine.
radiation doses to the patient. This radiation dose has to be Megavoltage cone beam CT is an imaging technique for
balanced by the required information for implant placement. image-guided radiotherapy that will enable radiation oncol-
Its use can seldom be justified except for the imaging of large ogists to enhance the care for cancer patients by generating
jawbone segments. A further development and improvement superior digital images and developing, simulating, and
of CT equipment has inspired researchers and clinicians to verifying treatment plans [32]. Another application includes
use it as low-dose CT [25]. This is where the cone beam CT stereotactic intracranial radiation therapy and prostate radi-
may offer a promising alternative approach. ation therapy [31]. Moreover, Sarkar et al. [33] have reported
Today the availability of real 3-D planning software, cone beam CT application in several fields such as the space,
which furthermore allows a reliable transfer to the surgical defense, automobile, nuclear industry, etc.
field through drilling templates, helps the surgeon to Mozzo et al. [28] presented the first commercial CBCT
achieve an adequate oral implant placement [40]. system (NewTom DVT 9000, Quantitative Radiology,
The present review deals with imaging modalities avail- Verona, Italy) devoted to maxillofacial imaging. This same
able for preoperative planning purposes with a specific focus company has recently developed a new model named
on the use of the cone beam CT and software for planning of NewTom 3G. Besides the latter, we can presently find four
oral implant surgery. other models: I-CAT (Imaging Sciences International,
Hatfield, USA), 3D Panoramic X-ray CT scanner PSR
9000N (Asahi Roentgen, Kyoto, Japan), CB MercuRay
Cone beam computed tomography (Hitachi Medico Technology Corporation, Kashiwa, Chiba,
Japan), and 3D Accuitomo (J. Morita, Kyoto, Japan).
A new type of CT machine devoted to the imaging of Specifications of these cone beam devices devoted to den-
maxillofacial structures based on the cone beam CT (CBCT) tistry are shown in Table 1.
technique was developed. Such cone beam system allows The latter machine, the 3D Accuitomo was developed by
the physician to acquire 3-D volume data in one rotation at remodeling the “Multi-functional Panoramic Tomography”
reasonably low levels of radiation dosage. (Scanora, Soredex, Helsinki, Finland). The 2003 annual

Table 1 Company, x-ray source voltage, X-ray source current (x time), scanning time, in plane voxel size and reconstruction increment for
each cone beam CT device
Cone beam Company Size of reconstructed X-ray source X-ray source Scanning Voxel size Min
CT devices image (diameter × voltage (kV) current (× time) time(s) (xy)c reconstruct.
height) mA(s)a Incr.1 or cubic2

3D Accuitomo J. Morita, 4×3, 4×4, 6×6 60–80 1–10 mA 18 0.125 0.1251


Kyoto, Japan (step 1kV) (step 0.1 mA)
NewTom 9000 Quantitative 13×13 110 15 mAb 72 0.29 0.21
NewTom 3G Radiology, 8×8, 10×10, 13×13, 110 15 mAb 36 0.16–0.42 0.161
Verona, Italy 15×15, 18×18,
22×22
I-CAT Imaging Sciences, 16×21, 16×13, 120 12.48 mAs, 10, 20, 40 0.2–0.4 0.22
Hatfield, Penn- 16×8, 16×8 23.87 mAs,
sylvania, USA 46.72 mAs
CB MercuRay Hitachi, Medical, 5.12×5.12, 60–120 10 or 15 mA 10 0.1–0.4 0.12
Kyoto, Japan 10.2×10.2, 15×15, (step 20 kV)
19×19
3D Panoramic Asahi Roentgen, 3.6×4, 4.1×4 60–100 2–12 mA 20, 30 0.1–0.15 0.1–0.152
X-ray CT scanner Kyoto, Japan (step 1 kV) (step 2 mA)
PSR 9000N
a
Because not all companies provide both the mA and the mAs, this distinction is made
b
This is the maximum mA setting. The mA is calculated based on the size of the patient head, calculated based on two scout views
c
These voxel sizes give the range of the different possibilities. There is no direct link between the information given about the reconstructed
size and these voxel sizes. Only a select combination of possibilities of both columns is possible
3

report of the 3D Accuitomo device found a high demand images’ resolution was demonstrated by means of a high
of scans for implant treatment; 53% of the total cases resolution score of the periodontal ligament space and the
were devoted to oral implant presurgical and postsurgical lamina dura [13].
evaluation [37] (Fig. 1). Honda et al. [16] compared helical CT with the Ortho-
Various factors such as accuracy of the images and CT and reported that the image quality obtained with the
radiation dose should dictate the choice of the most adequate Ortho-CT far surpassed that of the helical CT.
imaging technique. These elements will be discussed below. To achieve accurate information and sufficient detail for
preoperative planning of implant surgery, image quality of the
different devices should be analyzed. Hirsch et al. [15] made a
Image quality on cone beam computed tomography comparative investigation of the image quality using three
different X-ray systems. Five human cadaver heads were
It was established that the generation of the CT hardware, examined by spiral CT (Somatom Emotion; Siemens,
data acquisition, and parameters such as slice thickness and Erlangen, Germany), cone beam CT (NewTom DVT 9000)
interval of the reconstruction can determine the imaging and 3D Accuitomo. Image quality assessment was performed
resolution. Schulze et al. [35] demonstrated high-contrast by five different observers using a 5-point rating scale. The
structures with the CBCT device. In addition, several authors study revealed that the best image quality (mean score 4.62)
[13, 18, 29] revealed excellent image acquisition for different was achieved with the 3D Accuitomo. Spiral CT (mean score
structures such as morphology of the mandible, location of 2.78) and NewTom DVT 9000 (mean score 2.91) were
the inferior alveolar canal, and even for the relationship of similar regarding the visibility of interesting structures.
radioopaque templates to the bone. Recently, Lascala et al. [23] have shown the reliability and
Recently, CT and CBCT technique were compared to accuracy of the NewTom DVT 9000 when measuring
assess which one was the most reliable. Kobayashi et al. [22] anatomical structures from CBCT images and compared
confirmed the superiority of PSR 9000 cone beam CT to them with measurements of real distances of eight dry
spiral CT in terms of spatial resolution on cross-sectional skulls.
images. Brooks et al. [8] evaluated images of five unembalmed
Similar findings were reported when comparing images cadaver heads and three living humans. The mandibular
from an anthropomorphic phantom taken by both the 3DX canal could be seen easily in the scans of the humans but
Multi Image Micro CT (J. Morita) and the multidetector was not readily visible with the default image reconstruc-
Aquilion Multi-Slice CT (Toshiba Medical Co Ltd, Tokyo, tion algorithm on the scans of the cadavers. This was the
Japan). The superiority of the 3DX cone beam device in the result of the age of the specimens and the effect of the

Fig. 1 Scans for implant


treatment
4

thawing process on the visualization of the anatomical Shortcomings of cone beam computed tomography
structures.
It should be noted that cone beam CT devoted to the max-
illofacial area was designed to scan jaw bone lesions. Can-
Radiation doses using cone beam computed cellous bone in particular is sharply visualized. Kobayashi et
tomography al. [22] reported that one of the drawbacks of the 3D
Panoramic X-ray CT scanner PSR 9000 was its inability of
In the field of diagnostic imaging, it is critical that the discriminating soft tissue because of its low contrast resolu-
patient-benefit of a procedure outweighs the risk of exposure tion. Furthermore, Heiland et al. [14] could not report
to ionizing radiation. Because one clear advantage of CBCT information about soft tissue quality. However, this device
over conventional CT scanners is its lower radiation dose, it provides essential information about the osseous morphology
is essential to determine the effective dose of the various for planning the placement of oral implants including cortical
CBCT scanners vs CT as they come into common use. integrity and thickness enlarged bone marrow spaces,
Mishima et al. [27] reported an advantage on the exposure postextraction irregularities, and trabecular bone density.
values of the 3D Panoramic X-ray CT scanner PSR 9000N. When comparing CT with cone beam CT reconstructed
The integral absorbed dose of radiation was less than 1/15 images, CT scans showed the most suitable images for
that of spiral CT, at least when the exposure condition of the tumor-derived alterations due to their capacity for soft
latter was optimized, to obtain a thinner slice width and a tissue reconstruction. On the other hand, cone beam CT
more accurate data. could only visualize primary osseous tumors or soft tissue
Ludlow et al. [26] have made a recent dosimetry tumors via osseous destruction of an impinging tumor [36].
comparison between two cone beam devices: I-CAT and One of the characteristics of these cone beam CT
NewTom 3G (Quantitative Radiology). The effective dose systems is their option to select the region of interest in
for the former was 101.5 μSv using the 2005 tissue weights. accordance with the clinical demands. Unfortunately, not
The operating parameters were 120 kVp and 22.85 mAs. all systems have this quality. The 3D Accuitomo, for
The effective dose for the NewTom 3G using the same instance, only allows scanning of limited volumes (Ø 4 cm,
phantom and full field of view (FOV) was 56.5 μSv. The h 3 cm). One of the machines that have large field of view
operating factors were 110 kV and 8.1 mA as determined is NewTom DVT 9000, which in addition to both jaws, can
automatically after a prescan of the phantom. From this display both temporo-mandibular joints and the sinus.
study, it seems that the effective dose from the I-CAT is 1.6– It is known that noise decreases with increasing voxel
1.8 times that of the NewTom 3G. size and with increasing beam current [2]. Therefore, a high
There are few surveys on dosimetry of the 3D Accuitomo. quality of reconstructed images is related to less noise with
Iwai et al. [19] estimated the effective dose of Ortho-CT, the neither streak nor ring artifact findings. Metallic dental
first prototype of this device. They found that the skin dose fillings may create artifacts in cone beam CT images. In
was almost the same as with rotational panoramic radio- addition, Mozzo et al. [28] found that the lower absorbed
graphy. This means an effective dose of approximately dose in the NewTom DVT 9000 was explained partially by
20 μSv. Published effective doses from digital panoramic the slightly higher level of accepted noise in the images.
radiography range from 4.7 to 14.9 μSv per scan [11]. Other It can also be argued that the image noise of CB
published data on nondigital panoramic radiographs puts the MercuRay is higher than of conventional helical CT. This
effective dose as high as 26 μSv. Afterwards, Arai et al. [1] is likely to result from the noise of the image intensifier and
found that the effective dose in one projection by the 3DX scattered radiation of this system [2].
MultiImage Micro-CT was 7.4 μSv. More research is Moreover, by irradiating only one site or area, such as
however needed to verify such results for all systems with the cone beam CT, projections acquired do not contain
available. Table 2 shows the equivalent background dose for the entire object. Reconstructed images thus suffer from
imaging techniques usually selected for the preoperative truncation artifacts. To solve this problem, Wiegert et al.
planning of oral implants. [44] have presented a novel method to avoid such truncated
artifacts using a truncation-free volume data for accurate
compensation of the artifacts.
In the CBCT systems that were developed, detection was
Table 2 Relative background radiation estimations for cone beam accomplished by the combination of an X-ray image
versus spiral CT
intensifier and Charge Coupled Device camera. This type
Imaging technique Equivalent natural radiation of detector was shown to be an effective aid on imaging
estimations (days) [11, 25, 26] technology for acquiring 3-D data for diagnostic tasks such
as implant treatment planning [17, 45]. At the same time, a
CT mandible + maxilla 38 prototype CBCT with a flat panel-type detector (FPD) was
CT mandible 33 developed and compared with an image-intensifier detector
CT maxilla 26 [3]. Once the results showed that FPD system has a strong
Cone beam CT 6–12 potential for use as a cone beam CT detector, they have
Panoramic radiograph 0.5–2 evaluated the system performance. High-resolution recon-
5
Fig. 2 Image segmentation to
construct 3-D models of the
bone and prosthesis

structed images were reported in this study. Finally, they Germany). Automatic bone segmentation was not possible
concluded that a FPD offers improved precision in maxillary because of a bias field of the image intensity (Fig. 2).
imaging [4].

Three-dimensional computed tomography-based


Case report planning

Axial, sagittal and coronal images of a dry mandible were Various studies have investigated the efficiency of preoper-
acquired with 3D Accuitomo (see Fig. 1). The first scan ative CTs for the success of surgical treatments. Precise
was taken while the partial edentulous mandible was insertion of the implant can be obtained through the use of
positioned wearing the scan template. The exposure image-based surgical templates, modified conventional
parameter settings selected included 70 Kv and 2 mA. A tomography, CT-scans, and 3-D computer-assisted planning
second scanning of the template alone was also required. of oral implant surgery [6, 10, 21, 30]. These methods are
Scanning parameters were now lowered to 60 kV and 1 mA helpful but not sufficient to accurately transfer the preoper-
to allow visibility of the template. The exposure time was atively acquired data to the patient.
of 17.5 s and a 360-degree-turn was selected. Advances in computer technology have enabled the
The bone in the image was semi-automatically segmen- development of systems that can assist the clinician in diag-
ted with the Amira 3D (Mercury Computer System, Berlin, nosis, treatment planning, and the treatment itself. Three-

Fig. 3 Osseous tissues in rela-


tion to the position of denture
teeth
6

dimensional computer-assisted interactive implant planning beam CT, further adaptations, optimalizations, and new
has the accuracy and reliability required for clinical use. Two developments will soon follow. The future may offer fully
methods for a computed-based transfer are available: navi- adaptable systems regarding exposure parameters and scan-
gation and stereolithographic drill guides. ning volumes and image quality improvements. The evolu-
Navigation was primarily used in neurosurgery, ortho- tion in hardware will be followed by a refinement of the
pedic surgery, otorhinolaryngological surgery, and maxil- software including dedicated surgical tools such as preop-
lofacial surgery [43]. This technology offers the surgeon erative implant planning software.
precise views of preplanned locations in the patient’s jaw
during surgery, demonstrating an accurate transfer of the Acknowledgement M. E. Guerrero is a scholarship holder of the
preoperative plan to the patient [42]. Belgian Technical Cooperation. D. van Steenberghe is holder of the
P. I. Brånemark Chair in Osseointegration.
Another approach is the use of stereolithographic drill
guides. Some authors [40] reported angular deviation usually
bellow 3° and linear deviations mainly below 2.5 mm for
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